Research And Design For Mechanical Gripper Based On Electrostatic Adsorption Mechanism

With the development of technology and the progress of society,industrial automation has become one of the most popular research topics,and the essential part of realizing automation is how to grasp objects accurately.Currently,methods used in the industrial automation,including electromagnetic technology,vacuum adsorption and mechanical gripper,have many deficiencies in application.Differences in compactness,deformation and vulnerability make it difficult to achieve automation for some objects.It is analyzed and summarized in this essay about the crawling methods at home and abroad,and the reasons of failing to grasp objects.The principle of electrostatic adsorption is applied to grasping hand.Through the feasibility study,a new electrostatic gripper with low power consumption and low noise is designed,which may be widely-used,safe and reliable and supplementary to current grippers.First of all,considering the characteristics of electrostatic gripper technology,researches develop from the point of electrostatic adsorption mechanism,including the main influence factors of static adsorption effect,a bipolar electrode adsorption model based on the coulomb action and the effect of insulating layer parameters and the voltage on electrostatic adsorption.Secondly,the Ansoft Maxwell finite element analysis software was used to the electrostatic field of the bipolar electrodes,and the effects of different voltage,different electrode duty ratio,and the different insulation materials on the adsorption electric field were simulated.Different electrodes' duty ratios and different surface layer insulation materials were compared and tested for the adsorption of different materials on the object being grasped.Based on this,an optimized design of the electrode was proposed and the parameters were determined by experiments.Finally,based on the experimental parameters,two typical electrostatic grippers,flexible ones and rigid ones,are designed and manufactured,each of which has its pros and cons for different types of objects.The grippers consist of electrostatic adsorption electrode,gripper body structure and gripper control circuit system.Through physical tests,it has been verified that the electrostatic adsorption technology is applicable and useful for grasping objects,and is cost-effective and has a wide range of application prospects.